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Stockholders' Equity - Narrative (Details) - USD ($)
 3 Months Ended
Nov. 09, 2021
Jan. 25, 2021
Mar. 31, 2022
Jan. 01, 2021
May 13, 2016
2016 Incentive Plan          
Class of Stock [Line Items]          
Number of shares authorized (in shares)         22,000,000
Number of potential shares authorized for issuance under share based compensation plan (in shares)         2,000,000
Increase in number of shares authorized (in shares)       2,000,000  
Number of shares available for grant (in shares)     838,641    
Number of shares of unvested restricted stock units and options outstanding (in shares)     3,491,330    
Common stock, other shares, outstanding (in shares)     11,701,340    
Award vesting period (in years)     3 years    
Maximum contractual term (in years)     10 years    
2007 Incentive Plan          
Class of Stock [Line Items]          
Common stock, other shares, outstanding (in shares)     2,395,723    
Award vesting period (in years)     3 years    
Maximum contractual term (in years)     10 years    
Underwritten Public Offering | Common stock          
Class of Stock [Line Items]          
Number of shares issued in transaction (in shares)   20,355,000      
Sale of stock, price per share (in dollars per share)   $ 8.50      
Proceeds from sale of stock   $ 162,100,000      
Common stock | Sales Agreement          
Class of Stock [Line Items]          
Maximum authorized amount $ 300,000,000        
Sale of stock, sales proceeds of any common stock, percentage 3.00%        
Aggregate number of shares issued (in shares)     8,480,483    
Stock sale agreement weighted average price (in dollars per share)     $ 3.52    
Aggregate proceeds     $ 29,400,000    
Remaining authorized amount     $ 221,800,000